Bifrost/coordinate_frames.json at main · otherworld-dev/Bifrost · GitHub

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{
  "version": "1.0",
  "description": "Bifrost coordinate frame definitions",
  "base_frame": {
    "name": "base",
    "frame_type": "base",
    "position": [
      0.0,
      0.0,
      0.0
    ],
    "orientation_quaternion": [
      1.0,
      0.0,
      0.0,
      0.0
    ],
    "parent_frame": "world",
    "description": "Robot base mounting frame"
  },
  "tools": [
    {
      "name": "default_tool",
      "frame_type": "tool",
      "position": [
        0.0,
        0.0,
        0.0
      ],
      "orientation_quaternion": [
        1.0,
        0.0,
        0.0,
        0.0
      ],
      "parent_frame": "tcp",
      "description": "Default tool (no offset)"
    },
    {
      "name": "Gripper",
      "frame_type": "tool",
      "position": [
        0.0,
        0.0,
        115.0
      ],
      "orientation_quaternion": [
        1.0,
        0.0,
        0.0,
        0.0
      ],
      "parent_frame": "tcp",
      "description": ""
    }
  ],
  "workpieces": [],
  "active_frame": "base",
  "active_tool": "Gripper"
}